N K
/
GaNtroller
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priustroller_current
by 
N K
Diff: callbacks.cpp
- Revision:
- 37:09373294ff22
- Parent:
- 36:11766b5da6ed
- Child:
- 38:232c51b6853f
diff -r 11766b5da6ed -r 09373294ff22 callbacks.cpp
--- a/callbacks.cpp Thu Apr 16 04:08:47 2015 +0000
+++ b/callbacks.cpp Thu Apr 16 07:12:36 2015 +0000
@@ -31,6 +31,8 @@
dbg_loop_d = vd = c->pid_d->Update(ref_d, d_filtered);
dbg_loop_q = vq = c->pid_q->Update(ref_q, q_filtered);
+ dbg_loop_d = vd = 0.0f;
+ dbg_loop_q = vq = c->user->throttle;
/*
if(c->user->throttle <= 0.1f){
@@ -49,6 +51,7 @@
dbg_valpha = valpha;
dbg_vbeta = vbeta;
+ dbg_dtc_b = ((-valpha + sqrt(3.0f) * vbeta) / 2.0f);
c->modulator->Update(valpha, vbeta);
}
@@ -58,12 +61,13 @@
}
void debug(Context *c) {
- c->serial->printf("%f %f %f %f %f %f\n\r", dbg_d_filtered, dbg_q_filtered, dbg_ref_d, dbg_ref_q, dbg_loop_d, dbg_loop_q);
+ //c->serial->printf("%f %f %f %f %f %f\n\r", dbg_d_filtered, dbg_q_filtered, dbg_ref_d, dbg_ref_q, dbg_loop_d, dbg_loop_q);
//c->serial->printf("%f\n\r", dbg_angle);
//c->serial->printf("%f\n\r", c->user->throttle);
}
void log(Context *c) {
- //c->debugger->Write(0, dbg_angle);
- //c->debugger->Write(1, dbg_q_filtered);
+ //c->debugger->Write(0, dbg_dtc_b);
+ //c->debugger->Write(1, dbg_dtc_b);
+ //c->debugger->Write(2, dbg_dtc_c);
}
\ No newline at end of file